JP2012506289A - 車椅子式歩行補助用ロボット - Google Patents
車椅子式歩行補助用ロボット Download PDFInfo
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 26
- 210000004394 hip joint Anatomy 0.000 claims abstract description 21
- 244000309466 calf Species 0.000 claims abstract description 9
- 210000000689 upper leg Anatomy 0.000 claims abstract description 9
- 210000001624 hip Anatomy 0.000 claims description 7
- 230000001174 ascending effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
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- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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Abstract
【解決手段】
ユーザの下半身に着用する外骨格を車椅子形態のリフトと共に結合した車椅子式歩行補助用ロボットであり、走行部は、メインフレームに設けた走行モータと車輪とを備える。リフトは、メインフレームに固定結合した外側リニアガイドと、上下移動可能な内側リニアガイドと、該内側リニアガイドに連結され上下移動可能な椅子上端部と、外側リニアガイドに連結され、前記内側リニアガイドが下降時に広がり、上昇時に折り畳まれる椅子下端部とを備える。外骨格は、椅子上端部に固定結合したリフト締結部と、太ももブレースを結合した上部フレームと、ふくらはぎブレースが結合された下部フレームと、リフト締結部及び上部フレームとの間に設けられた股関節部と、上部フレームと下部フレームとの間に設けられた膝関節部と、を備える。
【選択図】図1
Description
ところが、このような従来の歩行補助機器は、ユーザの歩行を補助してリハビリを助けるのに有用な装置ではあるが、従来の車椅子のような走行機能は保有していないため、長距離移動手段としての価値は極めて少ない方であった。
一方、添付図面において一部構成要素は誇張または省略され、あるいは、概略的に示されており、各構成要素の大きさは実際の大きさを反映するものではない。添付図面の中で同一または対応する構成要素には、同一の参照番号を付与する。
一方、図面に示していないが、リフト200は椅子上端部240に設けられた腰ブレースをさらに含んでもよい。
まず、図5を参照すれば、外側リニアガイド220が固定された状態で、リニアアクチュエーター210が内側リニアガイド230を上側に駆動すれば、内側リニアガイド230は外側連結ブロック231を介して外側リニアガイド220に沿って上昇する。このとき、チェーン260は一方の端部がメインフレーム110に締結されているので、その締結位置が固定される。したがって、内側リニアガイド230が上昇すれば、スプロケット234が回転しながら内側連結ブロック232に締結されたチェーンの260の反対側の端部を引き寄せるようになる。すなわち、内側連結ブロック232がチェーン260によって内側リニアガイド230に沿って上昇するようになり、内側連結ブロック232に固定結合された椅子上端部240もともに上昇するようになる。
1対の上部フレーム320は人の両太ももに相当し、1対の下部フレーム330は人のふくらはぎに相当する。また、1対の股関節部340と1対の膝関節部350は、それぞれ人の股関節と膝関節に相当する。
Claims (9)
- メインフレームと、前記メインフレームに設けられる走行モータと、前記メインフレームに設けられ前記走行モータによって駆動される車輪とを備える走行部、
前記メインフレームに固定結合される外側リニアガイドと、前記外側リニアガイドに沿って上下移動が可能な内側リニアガイドと、前記内側リニアガイドに連結され上下移動が可能な椅子上端部と、前記外側リニアガイドに連結され前記内側リニアガイドが下降すれば広がり、上昇すれば折り畳まれる椅子下端部とを備えるリフト、
前記椅子上端部に固定結合されるリフト締結部と、太ももブレースが結合された上部フレームと、ふくらはぎブレースが結合された下部フレームと、前記リフト締結部と前記上部フレームとの間に設けられ、前記リフト締結部を基準として前記上部フレームを回転させる股関節部と、前記上部フレームと前記下部フレームとの間に設けられ、前記上部フレームを基準として前記下部フレームを回転させる膝関節部とを備える外骨格、
を含むことを特徴とする車椅子式歩行補助用ロボット。 - 前記リフトは、前記メインフレームに固定結合され、前記内側リニアガイドに連結され、前記内側リニアガイドを上下に駆動するリニアアクチュエーターと、をさらに備えることを特徴とする請求項1に記載の車椅子式歩行補助用ロボット。
- 前記リフトは、前記内側リニアガイドに固定結合され、前記外側リニアガイドに上下移動可能に結合される外側連結ブロックをさらに備えることを特徴とする請求項1に記載の車椅子式歩行補助用ロボット。
- 前記リフトは、前記椅子上端部に固定結合され、前記内側リニアガイドに上下移動可能に結合される内側連結ブロックをさらに備えることを特徴とする請求項1に記載の車椅子式歩行補助用ロボット。
- 前記リフトは、前記内側リニアガイドの上端に形成されるスプロケットと、一方の端部が前記メインフレームに締結され前記スプロケットを介して反対側の端部が前記内側連結ブロックに締結されるチェーンとをさらに備え、前記内側連結ブロックが前記チェーンによって前記内側リニアガイドに沿って上昇すれば、前記椅子上端部もともに上昇することを特徴とする請求項4に記載の車椅子式歩行補助用ロボット。
- 前記リフトは、前記外側リニアガイドに形成されるラックギヤと、前記ラックギヤに噛合され前記外側連結ブロックに回転可能に結合される第1スパーギヤと、前記第1スパーギヤに噛合され前記椅子下端部に軸が固定結合される第2スパーギヤとをさらに備え、前記外側連結ブロックが前記内側リニアガイドによって上昇すれば、前記椅子下端部が下方に折り畳まれるように回転することを特徴とする請求項3に記載の車椅子式歩行補助用ロボット。
- 前記リフトは、前記椅子上端部に設けられる腰ブレースをさらに備えることを特徴とする請求項1に記載の車椅子式歩行補助用ロボット。
- 前記外骨格は、前記リフト締結部の両側に設けられ、前記股関節部に回転駆動力を提供する股関節駆動部をさらに備えることを特徴とする請求項1に記載の車椅子式歩行補助用ロボット。
- 前記外骨格は、前記膝関節部に直接設けられ、前記膝関節部に回転駆動力を提供する膝関節駆動部をさらに備えることを特徴とする請求項1に記載の車椅子式歩行補助用ロボット。
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KR1020080103461A KR101043207B1 (ko) | 2008-10-22 | 2008-10-22 | 휠체어식 보행 보조용 로봇 |
PCT/KR2009/005782 WO2010047485A2 (ko) | 2008-10-22 | 2009-10-09 | 휠체어식 보행 보조용 로봇 |
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EP (1) | EP2361734B1 (ja) |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101536586B1 (ko) * | 2014-03-31 | 2015-07-14 | 세종대학교산학협력단 | 가변좌석유닛을 포함하는 휠체어 |
JP2016530013A (ja) * | 2013-08-28 | 2016-09-29 | アップンライド ロボティクス リミテッド | 起立式車椅子 |
JP2019205819A (ja) * | 2018-03-14 | 2019-12-05 | トヨタ モーター ノース アメリカ,インコーポレイティド | 動力付車椅子及び外骨格の同期された動作を提供するためのシステム及び方法 |
WO2021084579A1 (ja) * | 2019-10-28 | 2021-05-06 | マコトバイオニクス株式会社 | 歩行可能な車椅子 |
Families Citing this family (64)
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AU2011237357B2 (en) * | 2010-04-09 | 2016-05-19 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
SE534997C2 (sv) * | 2010-06-23 | 2012-03-13 | Gate Rehab Dev Ab | Uppresningsstöd |
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Also Published As
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WO2010047485A2 (ko) | 2010-04-29 |
US20110201978A1 (en) | 2011-08-18 |
KR101043207B1 (ko) | 2011-06-22 |
EP2361734B1 (en) | 2017-03-22 |
EP2361734A4 (en) | 2016-01-06 |
US8790284B2 (en) | 2014-07-29 |
KR20100044360A (ko) | 2010-04-30 |
WO2010047485A3 (ko) | 2010-08-05 |
EP2361734A2 (en) | 2011-08-31 |
JP5400890B2 (ja) | 2014-01-29 |
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